1. Department of Marine Technology; IT Department, Norwegian University of Science and Technology (NTNU), Trondheim 7491, Norway e-mail:
2. Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim 7491, Norway e-mail:
3. Department of Energy and Process Engineering, Norwegian University of Science and Technology (NTNU), Trondheim 7491, Norway e-mail: